#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
#include <VirtualRobot/RuntimeEnvironment.h>

#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/Qt/SoQt.h>

#include <string>
#include <iostream>

using std::cout;
using std::endl;
using namespace VirtualRobot;

#include <Eigen/Core>
#include <Eigen/Geometry>

#include "showSceneWindow.h"


int main(int argc, char* argv[])
{
    VirtualRobot::init(argc, argv, "Simox Scene Exporter");
    std::string filename("data/scenes/grasping/3D_scenes/layout_0.xml");
    VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filename);
    VirtualRobot::RuntimeEnvironment::considerKey("scene");
    VirtualRobot::RuntimeEnvironment::processCommandLine(argc, argv);
    VirtualRobot::RuntimeEnvironment::print();
    filename = VirtualRobot::RuntimeEnvironment::checkValidFileParameter("scene", filename);
    showSceneWindow rw(filename);
    rw.main();

    return 0;

}
